基于高精度三维动态地质模型的采煤机自适应智能截割技术研究

采煤机使用“记忆截割”技术割煤时，需要进行人工领刀，且对煤层赋存条件要求较高，当煤层起伏较大时需要频繁示教领刀。“记忆截割”技术仅针对下一刀煤层顶板截割路径进行优化，在采煤机推进方向无法根据煤层的赋存形态对采煤机俯仰采路线进行精确规划与控制。本文基于采煤机自适应智能截割理念，设计了综采工作面采煤机智能截割系统运行模式，利用煤层精细化物探数据构建工作面高精度三维地质模型，而后利用地质模型对采煤机的未来截割路径进行规划，并在开采过程中根据工作面揭露的最新地质资料动态修正高精度三维地质模型。将高精度三维动态地质模型与采煤机开采规划算法耦合，提出可自适应煤层变化的采煤机开采控制基线规划算法，实现对采煤机推进方向的俯仰采控制与牵引方向的截割控制，以及地质模型更新、开采基线规划与采煤机滚筒调整之间的高效协作。设计了智能截割系统内滚筒调整参量的计算服务接口，以及智能截割系统与采煤机控制系统间的通讯协议，实现了采煤机滚筒基于规划截割路径的精准控制。实践表明，采煤机智能截割系统适用于底板倾角各种变化程度的煤层，采煤机截割线更好地贴合煤层顶、底板线，节约资源，提高生产效率。

Adaptive intelligent cutting technology of the shearer based on the high-precision three-dimensional dynamic geological model

If the shearer is cutting coal using the "memory cutting" technique, a manual demonstration is required.The memory cutting technology has higher requirements on the reserving conditions of coal seams.When the coal seam fluctuates greatly, frequent manual demonstrations are required.The "memory cutting" technology only optimizes the cutting path of the coal seam roof for the next cutting.Along the advancing direction of the shearer, it is impossible to accurately plan and control the pitching angle of the shearer according to the reserving conditions of the coal seam.Based on the concept of shearer self-adaptive intelligent cutting, this paper designs the operation mode of the shearer intelligent cutting system in the fully mechanized working face.In this model, the high-precision three-dimensional geological model of the working face is first constructed by using the highly accurate geophysical data of the coal seam, and then the future cutting path of the shearer is planned by using the model.At the same time, the high-precision three-dimensional geological model is dynamically corrected by using the latest geological data of the working face during the mining process.In this paper, the high-precision three-dimensional dynamic geological model is coupled with the shearer mining planning algorithm.According to the model, a shearer mining control baseline planning algorithm that can adapt to the changes of the coal seam is proposed, which realizes the pitching control of the shearer in the advancing direction and the cutting control in the pulling direction, as well as the efficient cooperation between the update of the geological model, the planning of the mining baseline and the adjustment of the shearer drum.The calculation service interface of the drum adjustment parameters in the intelligent cutting system and the communication protocol between the intelligent cutting system is designed.Addtionally, the shearer control system is considered.This realizes the precise control of the shearer drum based on the planning cutting path.The intelligent cutting system of fully mechanized working face is applied to guide the production of shearers.The practice shows that the shearer intelligent cutting system is suitable for coal seams with various degrees of floor inclination.The cutting line of the shearer can better fit the roof and floor lines of the coal seam, which can save resources and improve production efficiency.